Motion Reference Units

Motion Reference Datasheet Rev. 3.3

Units MRU
• ABS Certification, affordable price
• IP-67 sealed or Subsea version
• 5% / 5 cm Heave accuracy
• up to 0.01 deg Pitch and Roll accuracy
• 40 cm DGPS or 1 cm RTK position
• 0.03 m/sec Velocity accuracy
• 0.005 m/sec2 Acceleration accuracy
• 0.0002 deg/sec Angular rate accuracy
• NMEA 0183 and TSS1 output data format
• Kongsberg/Seatex, SMC & Teledyne data formats*

Datasheet
Revision 3.3
Inertial Labs: Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. 1
Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com
 Motion Reference Units
Datasheet Rev. 3.3
Inertial Labs has developed Motion Reference Units (MRU) to meet requirements from marine and
hydrographic applications. MRU is enhanced, high-performance strapdown Motion Sensor, that determines
Pitch & Roll, Heave, Sway, Surge, Accelerations, Angular rates, Heading, Velocity and Positions for any device
on which it is mounted.

The Inertial Labs Motion Reference Units utilizes

solid state 3-axes each of precision accelerometers,
magnetometers, gyroscopes and barometric sensors
to provide accurate Heave, Sway, Surge, Pitch and
Roll of the device under measure.

Integration of very low noise gyroscopes output

provides high frequency, real-time measurement of
the Vessel, Ships, Helidecks, ROV, Marine antennas,
Cranes rotation about all three rotational axes.

Through a combination of proven sector expertise and a continued investment in technological innovation,
Inertial Labs delivers the optimum balance of price and performance ratio solutions for its customers.

KEY FEATURES AND FUNCTIONALITY

➢ Kongsberg/Seatex, Teledyne and SMC data formats
➢ State-of-the-art algorithms for Survey, Vessels, Ships, Active Heave Compensators, Cranes, Helideck,
ROV, AUV, DPS, Buoys, Echo Sounders, Offshore Platforms
➢ 0.02 deg RMS Pitch & Roll dynamic accuracy
➢ 5% or 5 cm RMS (whichever is greater) Heave accuracy
➢ 3 cm Oceanix Nearshore Horizontal Position Accuracy, 1-0.05 m VERIPOS Horizontal Position Accuracy
➢ 0.005 m/sec2 linear acceleration accuracy
➢ NMEA 0183, TSS1 output data formats
➢ HYPACK software compatibility
➢ Environmentally sealed (IP67) or Subsea Enclosure (200 meters depth)
➢ Affordable price

Our MRU’s featuring developed few micro g Bias in-run stability Micro Electro Mechanical System (MEMS)-
based accelerometers. New generation of Inertial Labs 1 deg/hr Bias in-run stability MEMS-based gyroscopes
are an ideal solution for demanding marine applications, with their electronic nature negating the problems
associated with expensive mechanical gyro solutions, as well as those based on fiber optic (FOG) technology.
Inertial Labs MEMS gyroscopes set the standard for the industry, with our high-end MRUs featuring gyros
that enable sector-leading accuracy and reliability standards.

Measured MRU-B * MRU-E MRU-P

Parameters
Basic Enhanced Professional
Heave, Surge, Sway (% / cm) + + +
Pitch & Roll (deg) + + +
Heading/Yaw (deg) + +
Velocity (meters/sec) +
DGPS/RTK Positions (meters) +
* MRU-B1 (Heave or Pitch & Roll measurement) and MRU-B2/B22 (Heave, Pitch & Roll measurements) are available

Inertial Labs: Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. 2
Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com
 Motion Reference Units
Datasheet Rev. 3.3
MRU Specifications
Parameter Units MRU-B (Basic) MRU-E (Enhanced) MRU-P (Professional)
Heave, Heave Velocity, Heave Acceleration, Surge, Sway, Pitch & Roll, Pitch & Roll Rate, Pitch &
Basic Output signals Roll Velocity, Accelerations, Angular rates, Significant Wave Height, Temperature, Barometric
data, Pulse Per Second (PPS)
Output data formats Kongsberg/Seatex, Ship Motion Control SMC, Teledyne TSS*
Heading/Yaw
GPS/GLONASS/GALIELO/
Additional output signals Heading/ Yaw
BeiDou/SBAS/DGPS/RTK
Positions, Velocity
SBES/MBES: Teledyne; R2Sonic; WAASP; Kongsberg; EdgeTech; NORBIT; IMAGENEX
Compatibility
HYPACK, QINSY and Novatel Inertial Explorer software*
Update rate Hz 1 … 200 (user settable) 1 … 200 (user settable) 1 … 200 (user settable)
Internal Data Logger 64 GB (optional)
Start-up time sec <1 <1 <1
Heave, Surge, Sway Units MRU-B MRU-E MRU-P
Measurement range meters ±300 ±300 ±300
Resolution meters 0.01 0.01 0.01
Accuracy, RMS % (meters) 5 (0.05) 5 (0.05) 5 (0.05)
Delayed Accuracy, RMS % (meters) 3 (0.03) 3 (0.03) 3 (0.03)
Pitch and Roll Units MRU-B MRU-E MRU-P
Range: Pitch, Roll deg ±90, ±180 ±90, ±180 ±90, ±180
Angular Resolution deg 0.005 0.01 0.01
Dynamic Accuracy deg RMS 0.02 (MRU-B1, B1.1, B2) 0.02 0.02
0.01 (MRU-B22)
Heading Units MRU-B MRU-E MRU-P
Range deg - 0 to 360 0 to 360
Angular Resolution deg - 0.01 0.01
Static Accuracy in whole Temperature Range deg - 0.3 0.2
Dynamic Accuracy deg RMS - 0.6 0.4
Post processing accuracy (1) deg RMS - 0.1 0.1
Positions, Velocity and Timestamps Units MRU-B MRU-E MRU-P
Horizontal position accuracy (GPS L1), RMS meters - - 1.5
Horizontal position accuracy (SBAS), RMS meters - - 0.6
Horizontal position accuracy (DGPS), RMS meters - - 0.4
Horizontal position accuracy (RTK), RMS meters 0.01 + 1 ppm
Horizontal position accuracy (Oceanix Nearshore), RMS (3) meters 0.03
Horizontal position accuracy (VERIPOS), RMS (3) meters 1-0.05
Horizontal position accuracy (post processing) (1) meters - - 0.005
Velocity accuracy, RMS meters/sec - - 0.03
GNSS raw data rate Hz - - 20
nano
Timestamps accuracy seconds
20 20 20
Gyroscopes Units MRU-B MRU-E MRU-P
Measurement range deg/sec ±450 ±450 ±450
Bias in-run stability (RMS, Allan Variance) deg/hr 1 1 1
Noise density deg/sec√Hz 0.004 0.004 0.004
Accelerometers Units MRU-B MRU-E MRU-P
Measurement range g ±8 ±8 ±8
Bias in-run stability (RMS, Allan Variance) mg 0.005 0.005 0.005
Noise density mg√Hz 0.025 0.025 0.025
Magnetometers Units MRU-B MRU-E MRU-P
Measurement range Gauss - ±1.6 ±1.6
Bias in-run stability, RMS nT - 0.2 0.2
Noise density, PSD nT√Hz - 0.3 0.3
Pressure Units MRU-B MRU-E MRU-P
Measurement range hPa 300 – 1100 300 – 1100 300 – 1100
Bias in-run stability (RMS, Allan Variance) Pa 2 2 2
Noise density Pa/√Hz 0.8 0.8 0.8
Environment Units MRU-B MRU-E MRU-P
Operating temperature deg C -40 to +70 -40 to +70 -40 to +70
Storage temperature deg C -50 to +85 -50 to +85 -50 to +85
MTBF hours 100,000 100,000 100,000
Vibration IEC 60945/EN 60945 IEC 60945/EN 60945 IEC 60945/EN 60945
Electrical Units MRU-B MRU-E MRU-P
Supply voltage V DC 9 to 36 9 to 36 9 to 36
Power consumption Watts 1 (2 with data logger) 1.4 (2.4 with data logger) 3.5 (4.5 with data logger)
Output Interface - Ethernet, RS-232, RS-422, CAN
Output data format - Binary, TSS-1, NMEA 0183 ASCII, Kongsberg /Seatex, SMC, Teledyne*
Compliance to EMCD, immunity/emission IEC 60945/EN 60945 IEC 60945/EN 60945 IEC 60945/EN 60945
Connector (2) Binder Series 723 Binder Series 723 Binder Series 723 & TNC
Physical Units IP-67 Subsea IP-67 IP-67 Subsea
Size mm 120 x 50 x 53 245 x 140 x115 120 x 50 x 53 120 x 50 x 53 245 x 140 x 115
Weight gram 220 6570 280 320 6670
Enclosure IP-67 Subsea IP-67 IP-67 Subsea
(1000m) (1000m)

Post-processing results using third party software.

(1) (2) Cable with pigtail wires or with Souriau 851-36RG 16-26s50 connector are the options (3) Requires a subscription to a Oceanix data service,
contact Inertial Labs for more information

Inertial Labs: Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. 3
Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com
 Motion Reference Units
Datasheet Rev. 3.3
MRU-B / MRU-E mechanical interface drawing (IP-67 version)

MRU-P mechanical interface drawing

Inertial Labs: Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. 4
Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com
 Motion Reference Units
Datasheet Rev. 3.3

MRU-BS / MRU-ES mechanical interface drawing (Subsea enclosure)

4 3 2 1

F F

105

115,50
E E

4 holes 6,50

D D
120
140

C C
182
216
245,1

B UNLESS OTHERWISE SPECIFIED: FINISH: DEBURR AND

DO NOT SCALE DRAWING REVISION
B
DIMENSIONS ARE IN MILLIMETERS BREAK SHARP
SURFACE FINISH: EDGES
TOLERANCES:
LINEAR: 0.02mm
ANGULAR: 0.1

NAME SIGNATURE DATE TITLE:

DRAWN

CHK'D
Alex Filon 21.08.2019
MRU Subsea
APPV'D

MFG

A Q.A MATERIAL: SS316L DWG NO.

A
A
MRU Subsea assembly
WEIGHT: 6.15 kg SCALE:1:2.5 SHEET 1 OF 1

4 3 2 1
MRU Subsea assembly

Notes:
1. All dimensions are in millimeters.
2. All dimensions within this drawing are subject to change without notice. Customers should obtain final drawings before designing any interface hardware.
3. Data connector type: please check ICD
4. GNSS connector type (MRU-P): TNC-Female

Inertial Labs: Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. 5
Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com
 Motion Reference Units
Datasheet Rev. 3.3

MRU-B Part numbers structure (IP-67)

MRU-B part numbers description

Model Gyro Accel Calibration Connector Color Data Logger Version Interface
MRU-B1 G450 A8 TGA C3 B S64 (optional) V1 1245
MRU-B1.1
MRU-B2
MRU-B22

Example: MRU-B1-G450-A8-TGA-C3-B-S64-V1.1245

MRU-BS Part numbers structure (Subsea)

MRU-B part numbers description

Model Gyro Accel Calibration Connector Color Data Logger Version Interface
MRU-B1S G450 A8 TGA C13 S S64 (optional) V1 1245
MRU-B1.1S
MRU-B2S
MRU-B22S

Example: MRU-B1S-G450-A8-TGA-C13-S-S64-V1.1245

MRU-E Part numbers structure (IP-67)

MRU-E part numbers description

Model Gyro Accel Calibration Connector Color Data Logger Version Interface
MRU-E G450 A8 TMGA C3 B S64 (optional) V1 1245

Example: MRU-E-G450-A8-TMGA-C3-B-S64-V1.1245

MRU-P Part numbers structure (IP-67)

MRU-P part numbers description

Model Gyro Accel Calibration Connector Color Data Logger GNSS Version Interface
Receiver
MRU-P G450 A8 TMGA C3 B S64 (optional) O719 V0 1245
VR5
Example: MRU-P-G450-A8-TMGA-C3-B-S64-O719-V0.1245

Description:
• MRU-B1: Heave Sensor (IP-67)
• MRU-B1S: Heave Sensor (Subsea)
• MRU-B1.1: Pitch & Roll Sensor (IP-67)
• MRU-B1.1S: Pitch & Roll Sensor (Subsea)
• MRU-B2: Heave, Surge, Sway, Pitch and Roll Sensor (IP-67)
• MRU-B22: Heave, Surge, Sway, Pitch and Roll Sensor (IP-67)
• MRU-B2S: Heave, Surge, Sway, Pitch and Roll Sensor (Subsea)
• MRU-B22S: Heave, Surge, Sway, Pitch and Roll Sensor (Subsea)
• MRU-E: Heading, Heave, Surge, Sway, Pitch and Roll Sensor (IP-67)
• MRU-P: Heave, Surge, Sway, Pitch, Roll, Heading, Position and Velocity Sensor
• G450: Gyroscopes measurment range = ±450 deg/sec
• A8: Accelerometers measurement range = ±8 g
• TGA: Gyroscopes and Accelerometers
• TMGA: Magnetometers, Gyroscopes and Accelerometers (MRU-E only)
• C3: 24 pins connector (IP67)
• C13: 20 pins connector (Subsea)
• B: Black color of enclosure (IP67)
* Trademark Legal Notice: All product names, logos, and brands are property of their respective owners.
• S: Silver color of enclosure (Subsea) All company, product and service names used in this document are for identification purposes only. Use
• S64: 64GB embedded Data Logger (optional) of these names, logos, and brands does not imply endorsement. Kongsberg/Seatex, Ship Motion Control
• O719: GNSS receiver SMC, Teledyne TSS, R2Sonic, WAASP, EdgeTech, NORBIT, IMAGENEX, HYPACK, QINSY, Novatel Inertial
• V0: DGPS (40 cm position accuracy) – for MRU-P only Explorer are trademarks of Kongsberg/Seatex, Ship Motion Control SMC, Teledyne TSS, R2Sonic,
• V1: Default version (w/o modifications) – MRU-B and MRU-E WAASP, EdgeTech, NORBIT, IMAGENEX, HYPACK, QINSY, Novatel its affiliates or its respective owners,
• VR5: RTK (1 cm position accuracy) – for MRU-P only registered or used in many jurisdictions worldwide.
• .1245: RS-232, RS-422, CAN, Ethernet

Inertial Labs: Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. 6
Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com
 Motion Reference Units
Datasheet Rev. 3.3
Inertial Labs Motion Reference Units (MRU) can be easily integrated into existing systems using the following
bracket.

Note:
1) All dimensions are in millimeters.
2) All dimensions within this drawing are subject to change without notice.

Inertial Labs: Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. 7
Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com
 Motion Reference Units
Datasheet Rev. 3.3
IMU Center Diagram

All dimensions within this drawing are subject to change without notice. Customers should obtain final drawings before designing any interface hardware.

Inertial Labs: Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. 8
Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com